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docs/en/msg_docs/RtlStatus.md
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@@ -1,8 +1,37 @@
---
pageClass: is-wide-page
---
# RtlStatus (UORB message)
**TOPICS:** rtl_status
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items |
| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). |
| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting |
| rtl_type | `uint8` | | | Type of RTL chosen |
| safe_point_index | `uint8` | | | index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#RTL_STATUS_TYPE_NONE"></a> RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points |
| <a href="#RTL_STATUS_TYPE_DIRECT_SAFE_POINT"></a> RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position |
| <a href="#RTL_STATUS_TYPE_DIRECT_MISSION_LAND"></a> RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing |
| <a href="#RTL_STATUS_TYPE_FOLLOW_MISSION"></a> RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. |
| <a href="#RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE"></a> RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -20,5 +49,6 @@ uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # chosen to directly go to a safe poi
uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # going straight to the beginning of the mission landing
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 # Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.
```
:::